Compliant Control for the Redundant Dual-Arm Live-Working Robot

2013 ◽  
Vol 459 ◽  
pp. 177-182
Author(s):  
Huan Bing Gao ◽  
Shou Yin Lu ◽  
Guo Hui Tian
Keyword(s):  
Dynamic Model ◽  
Force Control ◽  
Stiffness Matrix ◽  
Control Method ◽  
Total System ◽  
Kinematic Structure ◽  
Compliant Control ◽  
Dual Arm

Two arms are attached on the live-working robot for cooperating jobs and some task requiring larger stiffness such as pushing and butting when replacing cross arm or insulator. The different kinematic structure of this two arms brings many difficulties to get the dynamic model of the total system. This paper proposes a force control method to solve this problem. Two arms are considered as one arm firstly, then the general stiffness matrix is obtained. And based on the compliant relationship between the dual arms and the environment, the force control method for the exact force control is presented. The scheme is experimentally tested on the live-working robot, and the effectiveness and rapidity is validated .

Force-Position Hybrid Control of a New Parallel Hexapod Robot for Drilling Holes on Fuselage Surface

2013 ◽  
Author(s):  
Xianchao Zhao ◽  
Yang Pan ◽  
Feng Gao
Keyword(s):  
Dynamic Model ◽  
Force Control ◽  
Parallel Mechanism ◽  
Control Method ◽  
Hybrid Control ◽  
Control Mode ◽  
Work Status ◽  
Legged Robot ◽  
Hexapod Robot ◽  
Robot Performance

In this paper, a new kind of 6-legged robot for drilling holes on the aircraft surface is presented. Each leg of the robot is a parallel mechanism with 3 degree of freedoms thus the robot includes totally 18 motors. Due to different work status, the control modes of these motors are also different and thus the force-position hybrid control method is applied. The kinematic and dynamic model is briefly introduced. Then the robot gait is discussed. After that hybrid control method is introduced: first the control mode of each motor should be determined, then the position or force control curves should be calculated. In the end of this paper, both virtual and real prototype of this robot is showed and the experiment result showed that the hybrid control method can significantly improve the robot performance.

Research on Contact Force Control in Process of Aspheric Surface Polish

2012 ◽  
Vol 621 ◽  
pp. 216-222
Author(s):  
Jie Qiong Lin ◽  
Tong Huan Ran ◽  
Li Feng
Keyword(s):  
Contact Force ◽  
Force Control ◽  
Position Control ◽  
Control Method ◽  
Free Form ◽  
Force Output ◽  
Compliant Control ◽  
Free Form Surface ◽  
Polishing Tool ◽  
Contact Force Control

Contact force control is one of the key technologies of polishing aspheric optical parts, and keeping a stable polishing contact force on the basis of accurate position control is an important condition to obtain high quality aspheric. The paper bases on ideal surface, decouples the contact force that between polishing tool and workpiece in each direction of the drive shaft in process of polish. Then get output force of all sports shaft. Finally, realize the polishing contact force control that take the position as a control goals, and take constant force output as a constraints. Simulation results show that the control method can achieve constant contact force output in the processing of polishing free-form surface, which provide a new idea to research the compliant control of polishing free-form surface.

Study on Dynamic Hybrid Position/Force Control of Two Coordinated Manipulators

2012 ◽  
Vol 468-471 ◽  
pp. 1224-1230 ◽  
Author(s):  
Guo Dong Chen
Keyword(s):  
Force Control ◽  
Control Method ◽  
Object Motion ◽  
Rigid Object ◽  
Control Scheme ◽  
Coordination System ◽  
Dynamic Hybrid ◽  
Dual Arm Robot ◽  
Definition Of ◽  
Dual Arm

A dynamic hybrid position/force control method is developed for the coordination of two manipulators of a dual-arm robot to cope with the case of dual-arm tightly cooperate a common rigid object in the presence of environmental constraint. Begin with the definition of a group of generalized motion and force vectors used for task description, and by synthesizing the object dynamics and manipulator dynamics, an object-oriented dynamic equation of the dual-arm rigid coordination system is first derived, where relationships between object motion, internal stress force, and environmental contact force are explicitly presented. Furthermore, this equation and that of single arm dynamics in Cartesian still remain the same form. Based on this definition and description, the dynamic hybrid position/force control scheme for dual-arm symmetric coordination is then designed, and the decomposition and parallel realization of the control algorithm is also discussed. Several experiments have been done on two coordinated PUMA562 robot manipulators, which show that the proposed method works effectively, where the object motion and internal/external force can be simultaneously controlled during cooperation.

scholarly journals Coordinated compliance control of dual-arm robot astronaut for payload operation

2021 ◽  
Vol 18 (3) ◽  
pp. 172988142110128
Author(s):  
Bingshan Hu ◽  
Lei Yan ◽  
Liangliang Han ◽  
Hongliu Yu
Keyword(s):  
Force Control ◽  
Position Control ◽  
Control Method ◽  
Constraint Equation ◽  
Control Mode ◽  
Control Methods ◽  
Compliance Control ◽  
Closed Chain ◽  
Dual Arm Robot ◽  
Dual Arm

Dual-arm robot astronaut has more general and dexterous operation ability than single-arm robot, and it can interact with astronaut more friendly. The robot will inevitably use both arms to grasp payloads and transfer them. The force control of the arms in closed chains is an important problem. In this article, the coordinated kinematic and dynamic equations of the dual-arm astronaut are established by considering the closed-chain constraint relationship. Two compliance control methods for dual-arm astronaut coordinated payload manipulating are proposed. The first method is called master–slave force control and the second is the shared force control. For the former, the desired path and operational force of the master arm should be given in advance and that of slave arm are calculated from the dual-arm robot closed-chain constraint equation. In the share control mode, the desired path and end operational force of dual arms are decomposed from the dual-arm robot closed-chain constraint equation directly and equally. Finally, the two control algorithms are verified by simulation. The results of analysis of variance of the simulation data show that the two control methods have no obvious difference in the accuracy of force control but the second control method has a higher position control accuracy, and this proves that the master–slave mode is better for tasks with explicit force distribution requirements and the shared force control is especially suitable for a high-precision requirement.

Shared Compliant Control of Teleoperation Based on Stiffness Feedback

2013 ◽  
Vol 321-324 ◽  
pp. 1482-1486
Author(s):  
Yang Chen ◽  
Xue Zhu Wang
Keyword(s):  
Contact Force ◽  
Force Control ◽  
Control Method ◽  
Contact Stiffness ◽  
Smith Predictor ◽  
Compliant Control ◽  
Control Load ◽  
On Line ◽  
Complete Contact ◽  
The Stability

In teleoperation tasks, communication delays between master and slave sides negatively affect the stability and transparency of closed loop system, and make it difficult to maintain a desired contact force. In order to improve the performance of contact force control in teleoperation under large time delays, a shared compliant control method is proposed in this paper. On the master side, the operator issues a desired contact force command according to the feedback of the contact stiffness identified on line besides motion commands. And on the slave side, a local contact force controller is designed using an adaptive Smith predictor, so as to shares control load with the operator. Experimental results show that this method can improve the force control performance, lower the difficulty of operation, and help the operator complete contact tasks with proper forces.In teleoperation tasks, communication delays between master and slave sides negatively affect the stability and transparency of closed loop system, and make it difficult to maintain a desired contact force. In order to improve the performance of contact force control in teleoperation under large time delays, a shared compliant control method is proposed in this paper. On the master side, the operator issues a desired contact force command according to the feedback of the contact stiffness identified on line besides motion commands. And on the slave side, a local contact force controller is designed using an adaptive Smith predictor, so as to shares control load with the operator. Experimental results show that this method can improve the force control performance, lower the difficulty of operation, and help the operator complete contact tasks with proper forces.

Constraint-force driven control design for rail vehicle virtual coupling

2021 ◽  
pp. 107754632110079
Author(s):  
Bin Wang ◽  
Dengke Yang ◽  
Xinrong Zhang ◽  
Xingheng Jia
Keyword(s):  
Dynamic Model ◽  
Traffic Management ◽  
Control Method ◽  
Constraint Force ◽  
Explicit Equation ◽  
Coupling Problem ◽  
Railway Traffic ◽  
Rail Vehicle ◽  
Virtual Coupling ◽  
Traffic Management System

This study investigates the constraint-force driven control problem of virtual coupling. To solve the constraint force, the explicit equation of vehicle motion with equality constraints is established using the Udwadia–Kalaba approach. First of all, this study introduces a brief overview of virtual coupling concepts in the European Railway Traffic Management System and some scenes of virtual coupling. The control method is proposed to enable the mechanical system to follow the designed constraint. Moreover, the dynamic model for virtual coupling problem is established. Second, combined with the dynamic model, the equation constraint is designed to make the rail vehicle movenment reach the control objective. By solving the equation based on the Udwadia–Kalaba approach, the control inputs that can render the vehicle to move along the desired trajectory. Third, numerical simulation results demonstrate the effectiveness of the proposed method in virtual coupling problem.

scholarly journals The Boundary Proportion Differential Control Method of Micro-Deformable Manipulator with Compensator Based on Partial Differential Equation Dynamic Model

Micromachines ◽  
2021 ◽  
Vol 12 (7) ◽  
pp. 799
Author(s):  
Xiangli Pei ◽  
Ying Tian ◽  
Minglu Zhang ◽  
Ruizhuo Shi
Keyword(s):  
Differential Equation ◽  
Partial Differential Equation ◽  
Dynamic Model ◽  
Control Method ◽  
System Modeling ◽  
Working Environment ◽  
Partial Differential ◽  
External Interference ◽  
Differential Control ◽  
Differential Control Method

It is challenging to accurately judge the actual end position of the manipulator—regarded as a rigid body—due to the influence of micro-deformation. Its precise and efficient control is a crucial problem. To solve the problem, the Hamilton principle was used to establish the partial differential equation (PDE) dynamic model of the manipulator system based on the infinite dimension of the working environment interference and the manipulator space. Hence, it resolves the common overflow instability problem in the micro-deformable manipulator system modeling. Furthermore, an infinite-dimensional radial basis function neural network compensator suitable for the dynamic model was proposed to compensate for boundary and uncertain external interference. Based on this compensation method, a distributed boundary proportional differential control method was designed to improve control accuracy and speed. The effectiveness of the proposed model and method was verified by theoretical analysis, numerical simulation, and experimental verification. The results show that the proposed method can effectively improve the response speed while ensuring accuracy.

scholarly journals The Study of Dynamic Modeling and Multivariable Feedback Control for Flexible Manipulators with Friction Effect and Terminal Load

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1522
Author(s):  
Fuli Zhang ◽  
Zhaohui Yuan
Keyword(s):  
Dynamic Model ◽  
Vibration Suppression ◽  
Control Method ◽  
Coupling Effect ◽  
Flexible Manipulator ◽  
Flexible Beam ◽  
Robot Dynamics ◽  
Joint Friction ◽  
Balance Principle ◽  
Multivariable Feedback

The flexible manipulato is widely used in the aerospace industry and various other special fields. Control accuracy is affected by the flexibility, joint friction, and terminal load. Therefore, this paper establishes a robot dynamics model under the coupling effect of flexibility, friction, and terminal load, and analyzes and studies its control. First of all, taking the structure of the central rigid body, the flexible beam, and load as the research object, the dynamic model of a flexible manipulator with terminal load is established by using the hypothesis mode and the Lagrange method. Based on the balance principle of the force and moment, the friction under the influence of flexibility and load is recalculated, and the dynamic model of the manipulator is further improved. Secondly, the coupled dynamic system is decomposed and the controller is designed by the multivariable feedback controller. Finally, using MATLAB as the simulation platform, the feasibility of dynamic simulation is verified through simulation comparison. The results show that the vibration amplitude can be reduced with the increase of friction coefficient. As the load increases, the vibration can increase further. The trajectory tracking and vibration suppression of the manipulator are effective under the control method of multi-feedback moment calculation. The research is of great significance to the control of flexible robots under the influence of multiple factors.

scholarly journals Dynamic Modeling and Anti-Disturbing Control of an Electromagnetic MEMS Torsional Micromirror Considering External Vibrations in Vehicular LiDAR

Micromachines ◽  
2021 ◽  
Vol 12 (1) ◽  
pp. 69
Author(s):  
Yong Hua ◽  
Shuangyuan Wang ◽  
Bingchu Li ◽  
Guozhen Bai ◽  
Pengju Zhang
Keyword(s):  
Dynamic Model ◽  
Optical Switching ◽  
Control Method ◽  
Sliding Mode ◽  
Algorithm Design ◽  
Coupling Model ◽  
Micro Electro Mechanical Systems ◽  
Mems Technology ◽  
Torsional Micromirror ◽  
Dynamic Coupling Model

Micromirrors based on micro-electro-mechanical systems (MEMS) technology are widely employed in different areas, such as optical switching and medical scan imaging. As the key component of MEMS LiDAR, electromagnetic MEMS torsional micromirrors have the advantages of small size, a simple structure, and low energy consumption. However, MEMS micromirrors face severe disturbances due to vehicular vibrations in realistic use situations. The paper deals with the precise motion control of MEMS micromirrors, considering external vibration. A dynamic model of MEMS micromirrors, considering the coupling between vibration and torsion, is proposed. The coefficients in the dynamic model were identified using the experimental method. A feedforward sliding mode control method (FSMC) is proposed in this paper. By establishing the dynamic coupling model of electromagnetic MEMS torsional micromirrors, the proposed FSMC is evaluated considering external vibrations, and compared with conventional proportion-integral-derivative (PID) controls in terms of robustness and accuracy. The simulation experiment results indicate that the FSMC controller has certain advantages over a PID controller. This paper revealed the coupling dynamic of MEMS micromirrors, which could be used for a dynamic analysis and a control algorithm design for MEMS micromirrors.

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